def main():
parser = argparse.ArgumentParser()
parser.add_argument('--checkpoint-path', required=True)
parser.add_argument('--image', nargs='+', required=True)
parser.add_argument('--num-classes', type=int, required=True)
args = parser.parse_args()
model = SqueezeNet(weights=None, classes=args.num_classes)
model.load_weights(args.checkpoint_path)
xs = []
for path in args.image:
img = image.load_img(path, target_size=(SIZE, SIZE))
x = image.img_to_array(img)
xs.append(x)
xs = np.array(xs)
xs = preprocess_input(xs)
probs = model.predict(xs)
print('')
for i, path in enumerate(args.image):
print('%s' % path)
print(' Prediction: %s' % np.argmax(probs[i]))
class TLClassifier:
def __init__(self, is_site):
#TODO load classifier
assert not is_site
weights_file = r'light_classification/models/squeezenet_weights.h5' #Replace with real world classifier
image_shape = (224, 224, 3)
self.states = (TrafficLight.RED, TrafficLight.YELLOW,
TrafficLight.GREEN, TrafficLight.UNKNOWN)
print('Loading model..')
self.model = SqueezeNet(len(self.states), *image_shape)
self.model.load_weights(weights_file, by_name=True)
self.model._make_predict_function()
print('Loaded weights: %s' % weights_file)
def get_classification(self, image):
"""Determines the color of the traffic light in the image
Args:
image (cv::Mat): image containing the traffic light
Returns:
int: ID of traffic light color (specified in styx_msgs/TrafficLight)
"""
mini_batch = cv2.resize(
image, (224, 224),
cv2.INTER_AREA).astype('float')[np.newaxis, ..., ::-1] / 255.
light = self.states[np.argmax(self.model.predict(mini_batch))]
return light
def create_squeezenet(nclass, train=True):
input = Input(shape=(HEIGHT, WIDTH, 3), name="img_input")
base_model = SqueezeNet(include_top=False,
weights=None,
input_tensor=input)
x = base_model.output
if train:
base_model.load_weights(
"models/squeezenet_weights_tf_dim_ordering_tf_kernels_notop.h5")
x = Dropout(0.2, name='drop9')(x)
x = Convolution2D(nclass, (1, 1), padding='valid', name='conv10')(x)
x = Activation('relu', name='relu_conv10')(x)
x = GlobalAveragePooling2D()(x)
x = Activation('softmax', name='loss')(x)
model = Model(input, x, name='squeezenet')
return model
# images = np.array([cv2.resize(cv2.cvtColor(im, cv2.COLOR_GRAY2RGB), (227, 227)) for im in images])
# images = np.array(images)
# print images.shape
# classes = to_categorical(classes, nb_classes=nr_classes)
print('Loading model..')
model = SqueezeNet(nb_classes, input_shape=input_shape)
adam = Adam(lr=0.040)
sgd = SGD(lr=0.1, decay=1e-6, momentum=0.9, nesterov=True)
model.compile(loss="categorical_crossentropy",
optimizer='adam',
metrics=['accuracy'])
if os.path.isfile(weights_file):
print('Loading weights: %s' % weights_file)
model.load_weights(weights_file, by_name=True)
print('Fitting model')
# model.fit(images, classes, batch_size=batch_size, nb_epoch=nb_epoch, verbose=1, validation_split=0.2, initial_epoch=0)
model.fit_generator(training_data,
samples_per_epoch=samples_per_epoch,
validation_data=validation_data,
nb_val_samples=nb_val_samples,
nb_epoch=nb_epoch,
verbose=1,
initial_epoch=initial_epoch)
print("Finished fitting model")
print('Saving weights')
model.save_weights(weights_file, overwrite=True)
print('Evaluating model')
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--checkpoint-path', required=True)
parser.add_argument('--test-dir', default='data/test')
parser.add_argument('--output-file', default='confusion_matrix.png')
parser.add_argument('--batch-size', type=int, default=32)
parser.add_argument('--limit', type=int, default=0)
parser.add_argument('--num-classes', type=int, required=True)
args = parser.parse_args()
model = SqueezeNet(weights=None, classes=args.num_classes)
model.load_weights(args.checkpoint_path)
data = []
classes = sorted(os.listdir(args.test_dir))
if len(classes) != args.num_classes:
raise ValueError('expecting %d classes, found %d in %s' % (
args.num_classes,
len(classes),
args.test_dir
))
for ic in range(len(classes)):
directory = os.path.join(args.test_dir, classes[ic])
for path in os.listdir(directory):
full_path = os.path.join(directory, path)
data.append((full_path, ic))
rng = random.Random(0)
rng.shuffle(data)
if args.limit > 0:
data = data[:args.limit]
chunked = list(chunks(data, args.batch_size))
gstart = time.time()
cmat = np.zeros((len(classes), len(classes)), dtype=np.int)
last_print = 0
for i, chunk in enumerate(chunked):
start = time.time()
paths, ys = zip(*chunk)
xs = []
for path in paths:
img = image.load_img(path, target_size=(SIZE, SIZE))
x = image.img_to_array(img)
xs.append(x)
xs = np.array(xs)
xs = preprocess_input(xs)
probs = model.predict(xs, batch_size=args.batch_size)
preds = probs.argmax(axis=1)
for actual, predicted in zip(ys, preds):
cmat[actual][predicted] += 1
diff = time.time() - start
gdiff = time.time() - gstart
if time.time() - last_print > 1 or i == len(chunked)-1:
last_print = time.time()
print('batch %d/%d (in %.3fs, %.1fs elapsed, %.1fs remaining)' % (
i+1,
len(chunked),
time.time() - start,
gdiff,
gdiff / (i+1) * (len(chunked)-i-1)
))
print(cmat)
plot_cmat(cmat, classes, args.output_file)
print('saved figure to %s' % args.output_file)
print('Loading images..')
paths = [
os.path.join(subdir, f) for subdir, dirs, files in os.walk(images_dir)
for f in files if f.endswith('.jpg')
]
images = [load_image(path) for path in paths]
nr_classes = len(decode)
images = np.array(images)
print('Loading model..')
model = SqueezeNet(nr_classes)
model.compile(loss="categorical_crossentropy", optimizer="adam")
if os.path.isfile(weights_file):
print('Loading weights...')
model.load_weights(weights_file)
print("Classifying images...")
# predictions = model.predict(images, batch_size=100, verbose=1)
# print('Predicted %s images' % len(predictions))
for i in xrange(len(images)):
img = np.expand_dims(images[i], axis=0)
res = model.predict(img)
results = res[0].argsort()[-5:][::-1]
print('%s: ' % paths[i])
for j in xrange(len(results)):
result = decode[results[j]]
text = '%.3f: %s' % (res[0][results[j]], result)
print(text)
# confidences = predictions[i].argsort()[-5:][::-1]
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--train-dir', default='data/train')
parser.add_argument('--test-dir', default='data/test')
parser.add_argument('--logdir', default='logs')
parser.add_argument('--batch-size', type=int, default=32)
parser.add_argument('--epochs', type=int, required=True)
parser.add_argument('--num-classes', type=int, required=True)
parser.add_argument('--checkpoint-pattern',
default='weights-{epoch:d}-{val_acc:.4f}.hdf5')
parser.add_argument('--learning-rate', type=float, default=1e-4)
parser.add_argument('--restore')
args = parser.parse_args()
# count samples
train_files = count_files(args.train_dir, '.png')
print('Found %d train files.' % train_files)
test_files = count_files(args.test_dir, '.png')
print('Found %d test files.' % test_files)
if args.restore:
model = SqueezeNet(weights=None, classes=args.num_classes)
model.load_weights(args.restore)
else:
model = SqueezeNet(weights='imagenet', classes=args.num_classes)
model.compile(loss='categorical_crossentropy',
optimizer=optimizers.Adam(lr=args.learning_rate),
metrics=['accuracy'])
train_datagen = ImageDataGenerator(
shear_range=0.2,
zoom_range=0.2,
horizontal_flip=True,
preprocessing_function=preprocess_single)
test_datagen = ImageDataGenerator(preprocessing_function=preprocess_single)
train_generator = train_datagen.flow_from_directory(
args.train_dir,
target_size=(SIZE, SIZE),
batch_size=args.batch_size,
class_mode='categorical')
test_generator = test_datagen.flow_from_directory(
args.test_dir,
target_size=(SIZE, SIZE),
batch_size=args.batch_size,
class_mode='categorical')
checkpoint = ModelCheckpoint(args.checkpoint_pattern,
monitor='val_acc',
verbose=1,
save_best_only=True,
mode='max')
tensorboard = TensorBoard(log_dir=args.logdir,
histogram_freq=0,
batch_size=args.batch_size,
write_graph=True,
write_grads=False,
write_images=False,
embeddings_freq=0,
embeddings_layer_names=None,
embeddings_metadata=None)
callbacks = [checkpoint, tensorboard]
model.fit_generator(train_generator,
steps_per_epoch=(train_files // args.batch_size),
epochs=args.epochs,
validation_data=test_generator,
validation_steps=(test_files // args.batch_size),
callbacks=callbacks)